| [692] | 1 | #include "skeleton.h"
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| 2 |
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| 3 | namespace OgreMayaExporter
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| 4 | {
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| 5 | // Constructor
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| 6 | Skeleton::Skeleton()
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| 7 | {
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| 8 | m_joints.clear();
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| 9 | m_animations.clear();
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| 10 | }
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| 11 |
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| 12 |
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| 13 | // Destructor
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| 14 | Skeleton::~Skeleton()
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| 15 | {
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| 16 | clear();
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| 17 | }
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| 18 |
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| 19 |
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| 20 | // Clear skeleton data
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| 21 | void Skeleton::clear()
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| 22 | {
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| 23 | m_joints.clear();
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| 24 | m_animations.clear();
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| 25 | }
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| 26 |
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| 27 |
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| 28 | // Load skeleton data from given skin cluster
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| 29 | MStatus Skeleton::load(MFnSkinCluster* pSkinCluster,ParamList& params)
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| 30 | {
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| 31 | MStatus stat;
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| 32 | //update skin cluster pointer
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| 33 | if (!pSkinCluster)
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| 34 | {
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| 35 | std::cout << "Could not load skeleton data, no skin cluster specified\n";
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| 36 | return MS::kFailure;
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| 37 | }
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| 38 | //retrieve and load joints from the skin cluster
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| 39 | MDagPath jointDag,rootDag;
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| 40 | MDagPathArray influenceDags;
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| 41 | int numInfluenceObjs = pSkinCluster->influenceObjects(influenceDags,&stat);
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| 42 | std::cout << "num influence objects: " << numInfluenceObjs << "\n";
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| 43 | for (int i=0; i<numInfluenceObjs; i++)
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| 44 | {
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| 45 | jointDag = influenceDags[i];
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| 46 | std::cout << "influence object " << i << ": " << jointDag.fullPathName().asChar() << "\n";
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| 47 | if (influenceDags[i].hasFn(MFn::kJoint))
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| 48 | {
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| 49 | //retrieve root joint
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| 50 | rootDag = jointDag;
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| 51 | while (jointDag.length()>0)
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| 52 | {
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| 53 | jointDag.pop();
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| 54 | if (jointDag.hasFn(MFn::kJoint) && jointDag.length()>0)
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| 55 | rootDag = jointDag;
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| 56 | }
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| 57 | //check if skeleton has already been loaded
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| 58 | bool skip = false;
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| 59 | for (int j=0; j<m_joints.size() && !skip; j++)
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| 60 | {
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| 61 | //skip skeleton if already loaded
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| 62 | if (rootDag.partialPathName() == m_joints[j].name)
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| 63 | {
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| 64 | skip = true;
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| 65 | std::cout << "joint already loaded: skipped\n";
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| 66 | }
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| 67 | }
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| 68 | //load joints data from root
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| 69 | if (!skip)
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| 70 | {
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| 71 | std::cout << "Loading skeleton with root: " << rootDag.partialPathName().asChar() << "...\n";
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| 72 | MSelectionList selectionList;
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| 73 | MGlobal::getActiveSelectionList(selectionList);
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| 74 | // Set Neutral Pose
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| 75 | //check if we want the skin bind pose
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| 76 | if (params.neutralPoseFrame == NPT_BINDPOSE)
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| 77 | {
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| 78 | // Note: we reset to the bind pose, then get current matrix
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| 79 | // if bind pose could not be restored we use the current pose as a bind pose
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| 80 | MGlobal::selectByName(jointDag.partialPathName(),MGlobal::kReplaceList);
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| 81 | MGlobal::executeCommand("dagPose -r -g -bp");
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| 82 | }
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| 83 | //check if we want specified frame as neutral pose
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| 84 | else if (params.neutralPoseType == NPT_FRAME)
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| 85 | {
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| 86 | //set time to desired time
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| 87 | MTime npTime = (double)params.neutralPoseFrame;
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| 88 | MAnimControl::setCurrentTime(npTime.as(MTime::kSeconds));
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| 89 | }
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| 90 |
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| 91 | //load joints data
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| 92 | stat = loadJoint(rootDag,NULL,params);
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| 93 | if (MS::kSuccess == stat)
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| 94 | std::cout << "OK\n";
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| 95 | else
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| 96 | std::cout << "Failed\n";
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| 97 |
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| 98 | /*
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| 99 | //restore skeleton to neutral pose
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| 100 | if (params.neutralPoseFrame == 1)
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| 101 | {
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| 102 | MGlobal::executeCommand("dagPose -r -g -bp");
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| 103 | MGlobal::setActiveSelectionList(selectionList,MGlobal::kReplaceList);
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| 104 | }
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| 105 | else if (params.neutralPoseType == 2)
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| 106 | {
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| 107 | //set time to desired time
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| 108 | MTime npTime = (double)params.neutralPoseFrame;
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| 109 | MAnimControl::setCurrentTime(npTime.as(MTime::kSeconds));
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| 110 | }
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| 111 | */
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| 112 | }
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| 113 | }
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| 114 | }
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| 115 |
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| 116 | return MS::kSuccess;
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| 117 | }
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| 118 |
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| 119 |
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| 120 | // Load a joint
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| 121 | MStatus Skeleton::loadJoint(MDagPath& jointDag,joint* parent,ParamList& params)
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| 122 | {
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| 123 | int i;
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| 124 | joint newJoint;
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| 125 | joint* parentJoint = parent;
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| 126 | // if it is a joint node translate it and then proceed to child nodes, otherwise skip it
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| 127 | // and proceed directly to child nodes
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| 128 | if (jointDag.hasFn(MFn::kJoint))
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| 129 | {
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| 130 | MFnIkJoint jointFn(jointDag);
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| 131 | // Display info
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| 132 | std::cout << "Loading joint: " << jointFn.partialPathName().asChar();
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| 133 | if (parent)
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| 134 | std::cout << " (parent: " << parent->name.asChar() << ")\n";
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| 135 | else
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| 136 | std::cout << "\n";
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| 137 | // Get parent index
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| 138 | int idx=-1;
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| 139 | if (parent)
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| 140 | {
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| 141 | for (i=0; i<m_joints.size() && idx<0; i++)
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| 142 | {
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| 143 | if (m_joints[i].name == parent->name)
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| 144 | idx=i;
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| 145 | }
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| 146 | }
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| 147 | // Get joint matrix
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| 148 | MMatrix bindMatrix = jointDag.inclusiveMatrix();
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| 149 | // Calculate scaling factor inherited by parent
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| 150 | double scale[3];
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| 151 | if (parent)
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| 152 | {
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| 153 | MTransformationMatrix M(parent->worldMatrix);
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| 154 | M.getScale(scale,MSpace::kWorld);
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| 155 | }
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| 156 | else
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| 157 | {
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| 158 | scale[0] = 1;
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| 159 | scale[1] = 1;
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| 160 | scale[2] = 1;
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| 161 | }
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| 162 | // Calculate Local Matrix
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| 163 | MMatrix localMatrix;
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| 164 | if (parent)
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| 165 | localMatrix = bindMatrix * parent->worldMatrix.inverse();
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| 166 | else
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| 167 | { // root node of skeleton
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| 168 | if (params.exportWorldCoords)
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| 169 | localMatrix = bindMatrix;
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| 170 | else
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| 171 | localMatrix = bindMatrix * jointDag.exclusiveMatrix().inverse();
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| 172 | }
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| 173 | // Calculate rotation data
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| 174 | double qx,qy,qz,qw;
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| 175 | ((MTransformationMatrix)localMatrix).getRotationQuaternion(qx,qy,qz,qw);
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| 176 | MQuaternion rotation(qx,qy,qz,qw);
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| 177 | MVector axis;
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| 178 | double theta;
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| 179 | rotation.getAxisAngle(axis,theta);
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| 180 | axis.normalize();
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| 181 | if (axis.length() < 0.5)
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| 182 | {
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| 183 | axis.x = 0;
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| 184 | axis.y = 1;
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| 185 | axis.z = 0;
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| 186 | theta = 0;
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| 187 | }
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| 188 | // Set joint info
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| 189 | newJoint.name = jointFn.partialPathName();
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| 190 | newJoint.id = m_joints.size();
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| 191 | newJoint.parentIndex = idx;
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| 192 | newJoint.worldMatrix = bindMatrix;
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| 193 | newJoint.localMatrix = localMatrix;
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| 194 | newJoint.posx = localMatrix(3,0) * scale[0];
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| 195 | newJoint.posy = localMatrix(3,1) * scale[1];
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| 196 | newJoint.posz = localMatrix(3,2) * scale[2];
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| 197 | newJoint.angle = theta;
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| 198 | newJoint.axisx = axis.x;
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| 199 | newJoint.axisy = axis.y;
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| 200 | newJoint.axisz = axis.z;
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| 201 | newJoint.jointDag = jointDag;
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| 202 | m_joints.push_back(newJoint);
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| 203 | // Get pointer to newly created joint
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| 204 | parentJoint = &newJoint;
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| 205 | }
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| 206 | // Load children joints
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| 207 | for (i=0; i<jointDag.childCount();i++)
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| 208 | {
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| 209 | MObject child;
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| 210 | child = jointDag.child(i);
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| 211 | MDagPath childDag = jointDag;
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| 212 | childDag.push(child);
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| 213 | loadJoint(childDag,parentJoint,params);
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| 214 | }
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| 215 | return MS::kSuccess;
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| 216 | }
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| 217 |
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| 218 |
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| 219 | // Load animations
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| 220 | MStatus Skeleton::loadAnims(ParamList& params)
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| 221 | {
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| 222 | MStatus stat;
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| 223 | int i;
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| 224 | std::cout << "Loading joint animations...\n";
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| 225 | // save current time for later restore
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| 226 | double curtime = MAnimControl::currentTime().as(MTime::kSeconds);
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| 227 | // clear animations list
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| 228 | m_animations.clear();
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| 229 | // load animation clips for the whole skeleton
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| 230 | for (i=0; i<params.clipList.size(); i++)
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| 231 | {
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| 232 | stat = loadClip(params.clipList[i].name,params.clipList[i].start,
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| 233 | params.clipList[i].stop,params.clipList[i].rate,params);
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| 234 | if (stat == MS::kSuccess)
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| 235 | std::cout << "Clip successfully loaded\n";
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| 236 | else
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| 237 | std::cout << "Failed loading clip\n";
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| 238 | }
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| 239 | //restore current time
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| 240 | MAnimControl::setCurrentTime(MTime(curtime,MTime::kSeconds));
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| 241 | return MS::kSuccess;
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| 242 | }
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| 243 |
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| 244 |
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| 245 | // Load an animation clip
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| 246 | MStatus Skeleton::loadClip(MString clipName,double start,double stop,double rate,ParamList& params)
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| 247 | {
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| 248 | MStatus stat;
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| 249 | int i,j;
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| 250 | MString msg;
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| 251 | std::vector<double> times;
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| 252 | // if skeleton has no joint we can't load the clip
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| 253 | if (m_joints.size() < 0)
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| 254 | return MS::kFailure;
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| 255 | // display clip name
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| 256 | std::cout << "clip \"" << clipName.asChar() << "\"\n";
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| 257 | // calculate times from clip sample rate
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| 258 | times.clear();
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| 259 | for (double t=start; t<stop; t+=rate)
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| 260 | times.push_back(t);
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| 261 | times.push_back(stop);
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| 262 | // get animation length
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| 263 | double length=0;
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| 264 | if (times.size() > 0)
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| 265 | length = times[times.size()-1] - times[0];
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| 266 | // check if clip length is >0
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| 267 | if (length <= 0)
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| 268 | {
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| 269 | std::cout << "the clip has 0 length, we skip it\n";
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| 270 | return MS::kFailure;
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| 271 | }
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| 272 | // create the animation
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| 273 | animation a;
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| 274 | a.name = clipName.asChar();
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| 275 | a.tracks.clear();
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| 276 | a.length = length;
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| 277 | m_animations.push_back(a);
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| 278 | int animIdx = m_animations.size() - 1;
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| 279 | // create a track for current clip for all joints
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| 280 | std::vector<track> animTracks;
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| 281 | for (i=0; i<m_joints.size(); i++)
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| 282 | {
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| 283 | track t;
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| 284 | t.bone = m_joints[i].name;
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| 285 | t.keyframes.clear();
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| 286 | animTracks.push_back(t);
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| 287 | }
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| 288 | // evaluate animation curves at selected times
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| 289 | for (i=0; i<times.size(); i++)
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| 290 | {
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| 291 | //set time to wanted sample time
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| 292 | MAnimControl::setCurrentTime(MTime(times[i],MTime::kSeconds));
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| 293 | //load a keyframe for every joint at current time
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| 294 | for (j=0; j<m_joints.size(); j++)
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| 295 | {
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| 296 | keyframe key = loadKeyframe(m_joints[j],times[i]-times[0],params);
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| 297 | //add keyframe to joint track
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| 298 | animTracks[j].keyframes.push_back(key);
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| 299 | }
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| 300 | }
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| 301 | // add created tracks to current clip
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| 302 | for (i=0; i<animTracks.size(); i++)
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| 303 | {
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| 304 | m_animations[animIdx].tracks.push_back(animTracks[i]);
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| 305 | }
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| 306 | // display info
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| 307 | std::cout << "length: " << m_animations[animIdx].length << "\n";
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| 308 | std::cout << "num keyframes: " << animTracks[0].keyframes.size() << "\n";
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| 309 | // clip successfully loaded
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| 310 | return MS::kSuccess;
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| 311 | }
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| 312 |
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| 313 |
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| 314 | // Load a keyframe for a given joint at current time
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| 315 | keyframe Skeleton::loadKeyframe(joint& j,double time,ParamList& params)
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| 316 | {
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| 317 | MFnIkJoint jointFn(j.jointDag);
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| 318 | MTransformationMatrix matrix;
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| 319 | MVector position;
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| 320 | double scale[3];
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| 321 | scale[0] = 1; scale[1] = 1; scale[2] = 1;
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| 322 | int parentIdx = j.parentIndex;
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| 323 | //get joint matrix at current time
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| 324 | matrix = j.jointDag.inclusiveMatrix();
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| 325 | if (parentIdx >= 0)
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| 326 | {
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| 327 | //calculate inherited scale factor
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| 328 | ((MTransformationMatrix)j.jointDag.exclusiveMatrix()).getScale(scale,MSpace::kWorld);
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| 329 | //calculate relative matrix
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| 330 | matrix = j.jointDag.inclusiveMatrix() * j.jointDag.exclusiveMatrixInverse();
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| 331 | }
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| 332 | else
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| 333 | { // root joint
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| 334 | if (params.exportWorldCoords)
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| 335 | matrix = j.jointDag.inclusiveMatrix();
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| 336 | else
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| 337 | matrix = j.jointDag.inclusiveMatrix() * j.jointDag.exclusiveMatrixInverse();
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| 338 | }
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| 339 | //calculate position of joint at given time
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| 340 | position.x = matrix.asMatrix()(3,0) * scale[0];
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| 341 | position.y = matrix.asMatrix()(3,1) * scale[1];
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| 342 | position.z = matrix.asMatrix()(3,2) * scale[2];
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| 343 | //get relative transformation matrix
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| 344 | matrix = matrix.asMatrix() * j.localMatrix.inverse();
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| 345 | //calculate rotation
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| 346 | double qx,qy,qz,qw;
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| 347 | ((MTransformationMatrix)matrix).getRotationQuaternion(qx,qy,qz,qw);
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| 348 | MQuaternion rotation(qx,qy,qz,qw);
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| 349 | double theta;
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| 350 | MVector axis;
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| 351 | rotation.getAxisAngle(axis,theta);
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| 352 | axis.normalize();
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| 353 | if (axis.length() < 0.5)
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| 354 | {
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| 355 | axis.x = 0;
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| 356 | axis.y = 1;
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| 357 | axis.z = 0;
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| 358 | theta = 0;
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| 359 | }
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| 360 | //create keyframe
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| 361 | keyframe key;
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| 362 | key.time = time;
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| 363 | key.tx = position.x - j.posx;
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| 364 | key.ty = position.y - j.posy;
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| 365 | key.tz = position.z - j.posz;
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| 366 | key.angle = theta;
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| 367 | key.axis_x = axis.x;
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| 368 | key.axis_y = axis.y;
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| 369 | key.axis_z = axis.z;
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| 370 | key.sx = 1;
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| 371 | key.sy = 1;
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| 372 | key.sz = 1;
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| 373 | return key;
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| 374 | }
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| 375 |
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| 376 |
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| 377 | // Get joint list
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| 378 | std::vector<joint>& Skeleton::getJoints()
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| 379 | {
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| 380 | return m_joints;
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| 381 | }
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| 382 |
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| 383 |
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| 384 | // Get animations
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| 385 | std::vector<animation>& Skeleton::getAnimations()
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| 386 | {
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| 387 | return m_animations;
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| 388 | }
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| 389 |
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| 390 |
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| 391 | // Write skeleton data to Ogre XML file
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| 392 | MStatus Skeleton::writeXML(ParamList ¶ms)
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| 393 | {
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| 394 | // Start skeleton description
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| 395 | params.outSkeleton << "<skeleton>\n";
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| 396 |
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| 397 | // Write bones list
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| 398 | params.outSkeleton << "\t<bones>\n";
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| 399 | // For each joint write it's description
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| 400 | for (int i=0; i<m_joints.size(); i++)
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| 401 | {
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| 402 | params.outSkeleton << "\t\t<bone id=\"" << m_joints[i].id << "\" name=\"" << m_joints[i].name.asChar() << "\">\n";
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| 403 | params.outSkeleton << "\t\t\t<position x=\"" << m_joints[i].posx << "\" y=\"" << m_joints[i].posy
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| 404 | << "\" z=\"" << m_joints[i].posz << "\"/>\n";
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| 405 | params.outSkeleton << "\t\t\t<rotation angle=\"" << m_joints[i].angle << "\">\n";
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| 406 | params.outSkeleton << "\t\t\t\t<axis x=\"" << m_joints[i].axisx << "\" y=\"" << m_joints[i].axisy
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| 407 | << "\" z=\"" << m_joints[i].axisz << "\"/>\n";
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| 408 | params.outSkeleton << "\t\t\t</rotation>\n";
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| 409 | params.outSkeleton << "\t\t</bone>\n";
|
|---|
| 410 | }
|
|---|
| 411 | params.outSkeleton << "\t</bones>\n";
|
|---|
| 412 |
|
|---|
| 413 | // Write bone hierarchy
|
|---|
| 414 | params.outSkeleton << "\t<bonehierarchy>\n";
|
|---|
| 415 | for (i=0; i<m_joints.size(); i++)
|
|---|
| 416 | {
|
|---|
| 417 | if (m_joints[i].parentIndex>=0)
|
|---|
| 418 | {
|
|---|
| 419 | params.outSkeleton << "\t\t<boneparent bone=\"" << m_joints[i].name.asChar() << "\" parent=\""
|
|---|
| 420 | << m_joints[m_joints[i].parentIndex].name.asChar() << "\"/>\n";
|
|---|
| 421 | }
|
|---|
| 422 | }
|
|---|
| 423 | params.outSkeleton << "\t</bonehierarchy>\n";
|
|---|
| 424 |
|
|---|
| 425 | // Write animations description
|
|---|
| 426 | if (params.exportAnims)
|
|---|
| 427 | {
|
|---|
| 428 | params.outSkeleton << "\t<animations>\n";
|
|---|
| 429 | // For every animation
|
|---|
| 430 | for (i=0; i<m_animations.size(); i++)
|
|---|
| 431 | {
|
|---|
| 432 | // Write animation info
|
|---|
| 433 | params.outSkeleton << "\t\t<animation name=\"" << m_animations[i].name.asChar() << "\" length=\"" <<
|
|---|
| 434 | m_animations[i].length << "\">\n";
|
|---|
| 435 | // Write tracks
|
|---|
| 436 | params.outSkeleton << "\t\t\t<tracks>\n";
|
|---|
| 437 | // Cycle through tracks
|
|---|
| 438 | for (int j=0; j<m_animations[i].tracks.size(); j++)
|
|---|
| 439 | {
|
|---|
| 440 | track t = m_animations[i].tracks[j];
|
|---|
| 441 | params.outSkeleton << "\t\t\t\t<track bone=\"" << t.bone.asChar() << "\">\n";
|
|---|
| 442 | // Write track keyframes
|
|---|
| 443 | params.outSkeleton << "\t\t\t\t\t<keyframes>\n";
|
|---|
| 444 | for (int k=0; k<t.keyframes.size(); k++)
|
|---|
| 445 | {
|
|---|
| 446 | // time
|
|---|
| 447 | params.outSkeleton << "\t\t\t\t\t\t<keyframe time=\"" << t.keyframes[k].time << "\">\n";
|
|---|
| 448 | // translation
|
|---|
| 449 | params.outSkeleton << "\t\t\t\t\t\t\t<translate x=\"" << t.keyframes[k].tx << "\" y=\"" <<
|
|---|
| 450 | t.keyframes[k].ty << "\" z=\"" << t.keyframes[k].tz << "\"/>\n";
|
|---|
| 451 | // rotation
|
|---|
| 452 | params.outSkeleton << "\t\t\t\t\t\t\t<rotate angle=\"" << t.keyframes[k].angle << "\">\n";
|
|---|
| 453 | params.outSkeleton << "\t\t\t\t\t\t\t\t<axis x=\"" << t.keyframes[k].axis_x << "\" y=\"" <<
|
|---|
| 454 | t.keyframes[k].axis_y << "\" z=\"" << t.keyframes[k].axis_z << "\"/>\n";
|
|---|
| 455 | params.outSkeleton << "\t\t\t\t\t\t\t</rotate>\n";
|
|---|
| 456 | //scale
|
|---|
| 457 | params.outSkeleton << "\t\t\t\t\t\t\t<scale x=\"" << t.keyframes[k].sx << "\" y=\"" <<
|
|---|
| 458 | t.keyframes[k].sy << "\" z=\"" << t.keyframes[k].sz << "\"/>\n";
|
|---|
| 459 | params.outSkeleton << "\t\t\t\t\t\t</keyframe>\n";
|
|---|
| 460 | }
|
|---|
| 461 | params.outSkeleton << "\t\t\t\t\t</keyframes>\n";
|
|---|
| 462 | params.outSkeleton << "\t\t\t\t</track>\n";
|
|---|
| 463 | }
|
|---|
| 464 | // End tracks description
|
|---|
| 465 | params.outSkeleton << "\t\t\t</tracks>\n";
|
|---|
| 466 | // End animation description
|
|---|
| 467 | params.outSkeleton << "\t\t</animation>\n";
|
|---|
| 468 | }
|
|---|
| 469 | params.outSkeleton << "\t</animations>\n";
|
|---|
| 470 | }
|
|---|
| 471 |
|
|---|
| 472 | // End skeleton description
|
|---|
| 473 | params.outSkeleton << "</skeleton>\n";
|
|---|
| 474 |
|
|---|
| 475 | return MS::kSuccess;
|
|---|
| 476 | }
|
|---|
| 477 |
|
|---|
| 478 |
|
|---|
| 479 | }; //end namespace |
|---|
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